I have a bellcrank for that very reason, I don't like long links coming off the idler. Mine is laser cut from 3/8" stainless, is bronze bushed on the pivot and rides on a machined boss welded in to the chassis, with nylon shims above and below clamped up with an ally top cap. The machined boss and ally top cap have recessed grooves to accept the nylon shim. The whole piece is machined such that the preload is bang on. We did try a roller thrust bearing but it felt notchy. If I were doing it again, I'd bore the bellcrank to accept a sealed ball bearing. Overkill but cheap and easy to do.
I spent a lot of time drawing because 6" looked goofy. I came to the conclusion that it's not really worth worrying about. I have 6" arms and I locate the drag links directly too the bellcrank dogbone. You want separate holes in the forward facing end to separate the rod ends. The gap between those holes has an affect on Ackerman as each wheel is articulating around a different arc and therefore is in a different angular position relative to the other. Draw it out if you're unsure.